摘要
文中设计了模块化的新型蛇形机器人关节单元 .该单元具有三个自由度 ,其中摆动和俯仰自由度由耦合机构驱动来获得较大的力矩和活动空间 .由该单元组成的蛇形机器人具有很强的驱动能力 ,能够抬起较多的单元 .针对蛇形机器人的特点 ,给出了耦合机构的设计原则 .对蛇形机器人抬起方法作了分析 ,得出采用适当规划方法能够抬起的最大单元数量是直接抬起的最大单元数量的平方关系的结论 ,并在此基础上分析了最大关节角对机器人抬起的影响 。
A novel joint mechanism for snake like robot has been designed, which has 3 degrees of freedom among then 2 degrees of freedom are driven through coupled drive. The snake like robot composed of these joints can acquire larger moment and larger workspace. In this paper, we present the principle of the joint design that is based on coupled drive, and introduce the lifting method of the snake like robot and the effect of maximum joint angle α. Through the analysis, we draw a conclusion that the number of units that the snake like robot possibly lifts is the square of the number of units that the snake like robot can directly lift. This is also confirmed by a simple example.
出处
《机器人》
EI
CSCD
北大核心
2003年第5期419-423,共5页
Robot
基金
国家 8 6 3计划项目资助 (2 0 0 1AA4 2 2 36 0 )
